ROS 2/CAN Bridge

Description

A ROS2 package enabling seamless communication between ROS 2 topics and a CAN bus. This bridge facilitates the translation of ROS 2 messages into CAN frames and vice-versa, allowing you to interact with CAN-based hardware within the ROS 2 ecosystem.

Features

• Bidirectional Communication: Translates ROS 2 messages to CAN frames and CAN frames to ROS 2 messages.
• Message Mapping: Offers flexible configuration for mapping ROS 2 topics to specific CAN IDs.
• Multiple Socket Support: Supports multiple CAN sockets to interface with different CAN buses or devices.

Dependencies

• ROS 2 (Distribution of your choice)
• SocketCAN libraries

Installation

1. Clone this repository into your ROS 2 workspace:

   cd <your_ros2_workspace>/src
   git clone https://github.com/Dragonrock/ros2can_bridge
   

2. Build your workspace:

   cd <your_ros2_workspace>
   colcon build
   

3. Source your workspace setup:

    source <your_ros2_workspace>/install/setup.bash
   

Usage

1. Launch the bridge:

   ros2 run ros2can_bridge can_to_ros_node
   

2. Customize Mappings: The can_to_ros.hpp file contains mappings for translating between ROS 2 topics and CAN IDs. Edit this file to adjust mappings according to your requirements.

Explanation of Key Code Sections

• Mapping Dictionaries:

  • can_id_mapping: Maps CAN IDs to ROS 2 topics and their corresponding message types.
  • can_id_socket_mapping: Maps CAN IDs to specific CAN sockets, allowing for management of multiple CAN interfaces.

• readCanFrameZero( ) and readCanFrameOne():

  • Functions that run in separate threads, each reading data from a dedicated CAN socket.
  • Incoming CAN frames are processed and translated to ROS 2 messages by the translateRosMsg function.

• translateRosMsg( ):

  • Translates CAN frames into their corresponding ROS 2 messages based on the can_id_mapping.
  • Publishes the translated messages onto the appropriate ROS 2 topics.

• readRosTopics ( ):

  • Subscribes to ROS 2 topics.
  • Calls the translatetoCan function to convert ROS 2 messages back into CAN frames.

• translatetoCan( ):

  • Converts ROS 2 messages into CAN frames using the can_id_mapping.
  • Sends the CAN frame on the appropriate socket based on the can_id_socket_mapping.

License

This project is licensed under the MIT License